Crate spatialrust_gpu 

GPU runtime, device buffers, and kernel dispatch for SpatialRust.

Unsafe code is restricted to FFI and GPU interop boundaries in this crate.

Structs

DeviceBuffer

Typed buffer allocated on a specific device.

GpuNormal

Per-point normal estimation output: (nx, ny, nz, curvature).

GpuVoxelKeyBuffers

GPU buffers for per-point positions and computed voxel keys.

GpuVoxelSegments

Voxel segment metadata kept on the GPU between sort/compact and reduce passes.

VoxelApproximateFirstGpuResult

GPU-resident approximate-first downsample result.

VoxelCentroidGpuResult

GPU-resident centroid downsample result.

VoxelSegments

Sorted voxel cell segments derived from per-point grid keys.

WgpuDevice

Portable GPU device backed by wgpu.

WgpuRuntime

Headless wgpu runtime for compute-only workloads.

Constants

MULTI_GATHER2_STORAGE_BUFFERS

Minimum storage buffers required for the 2-channel gather kernel.

MULTI_GATHER4_STORAGE_BUFFERS

Minimum storage buffers required for the 4-channel gather kernel.

Traits

GpuDevice

Marker trait for GPU-capable devices.

Functions

build_voxel_segments

Builds sorted voxel segments from per-point (ix, iy, iz) keys.

build_voxel_segments_from_positions_gpu

Computes voxel keys on the GPU and builds sorted segments using GPU sorting.

build_voxel_segments_from_positions_gpu_buffers

Builds GPU-resident voxel segments from positions without intermediate readbacks.

build_voxel_segments_gpu

Sorts per-point voxel keys on the GPU and compacts them into segments.

build_voxel_segments_gpu_from_keys_buffer

Builds GPU-resident voxel segments from a GPU keys buffer.

compact_voxel_segments_from_sorted

Compacts already-sorted voxel keys and point indices into segment metadata.

compute_voxel_keys

Computes per-point voxel grid keys on the GPU.

compute_voxel_keys_gpu_buffers

Uploads positions and computes per-point voxel keys, keeping data on the GPU.

downsample_voxel_approximate_first_gpu

Runs the chained GPU approximate-first pipeline without intermediate readbacks.

downsample_voxel_centroid_gpu

Runs the chained GPU voxel centroid pipeline without intermediate key/segment readbacks.

estimate_normals_gpu

Estimates per-point normals and curvature on the GPU.

estimate_normals_grid_gpu

Estimates per-point normals and curvature with a fully GPU radius neighbor search over a uniform grid.

estimate_plane_covariances_grid_gpu

Estimates per-point plane-regularized covariances on the GPU via a uniform grid radius neighbor search.

gather_voxel_first_f32

Gathers the first point’s f32 value within each voxel cell on the GPU.

gather_voxel_first_f32_gpu

Uploads f32 values and gathers the first point per GPU-resident voxel segment.

gather_voxel_first_f32_gpu_buffers

Gathers the first point’s f32 value using GPU-resident segment buffers.

gather_voxel_first_f32_multi_gpu

Gathers multiple f32 channels in one or more GPU dispatches.

gather_voxel_first_xyz_and_average_multi_gpu

Gathers xyz and averages f32/u8 attribute channels with one GPU submit/readback.

gather_voxel_first_xyz_and_multi_gpu

Gathers xyz and multiple f32/u8 attribute channels with one GPU submit/readback.

gather_voxel_first_xyz_gpu_buffers

Gathers xyz coordinates of the first point within each voxel cell on the GPU.

reduce_voxel_average_f32

Averages per-point f32 values within each voxel cell on the GPU.

reduce_voxel_average_f32_gpu

Uploads f32 values and averages them within GPU-resident voxel segments.

reduce_voxel_average_f32_gpu_buffers

Averages per-point f32 values using GPU-resident segment buffers.

reduce_voxel_average_f32_multi_gpu

Uploads multiple f32 channels and averages them with one GPU submit/readback.

reduce_voxel_centroids_xyz

Averages xyz positions within each voxel cell on the GPU.

reduce_voxel_centroids_xyz_and_average_multi_gpu

Averages xyz and multiple f32/u8 attribute channels with one GPU submit/readback.

reduce_voxel_centroids_xyz_and_gather_first_multi_gpu

Averages xyz and gathers the first f32/u8 attribute value per voxel with one readback.

reduce_voxel_centroids_xyz_gpu_buffers

Averages xyz positions using GPU-resident buffers.

Type Aliases

GpuCovariance

Per-point plane-regularized covariance as 6 unique elements: [c00, c11, c22, c01, c02, c12].